Mobile fixture apparatuses and methods

ABSTRACT

A mobile fixture includes a movable base, a support platform, an adaptor interface, at least one sensor, and a controller. The movable base is configured to travel over a floor. The support platform is articulable with respect to the base. The adaptor interface moves with the support platform, and is configured to mechanically interface with an attachment member. The at least one sensor is coupled to the adaptor interface and is configured to detect at least one of a force or movement resulting from an interaction between the adaptor interface and the attachment member. The controller is operably coupled to the movable base, support platform, and at least one sensor, and is configured to control movement of at least one of the movable base or support platform responsive to the at least one of the force or movement detected by the at least one sensor.

FIELD OF EMBODIMENTS OF THE DISCLOSURE

Embodiments of the present disclosure generally relate to mobilefixtures, such as for positioning and/or transporting parts orassemblies during manufacturing and/or assembly processes.

BACKGROUND OF THE DISCLOSURE

Mobile fixtures may be used to move large parts or assemblies. Themobile fixtures may be used in groups to support and position the partsor assemblies. However, certain conventional approaches utilize groupsof mobile fixtures that are each communicatively coupled to a networkthat provides control signals and/or communicably coupled to each otherto receive control signals. These approaches may be inefficient and/orinconvenient to program and control. For example, such approaches tendto be very application-specific, and do not lend themselves tore-purposing mobile fixtures for other work flows or products. Asanother example, some approaches rely heavily upon integrated metrologysystems, requiring networked communications.

SUMMARY OF THE DISCLOSURE

A need exists for improved control and operation of mobile fixtures, forexample groups of mobile fixtures cooperatively used to transport orposition a common part or assembly.

With those needs in mind, certain embodiments of the present disclosureprovide a mobile fixture system that includes a plurality of mobilefixtures. Each mobile fixture includes a movable base, a supportplatform, an adaptor interface, at least one sensor, and a controller.The movable base is configured to travel over a floor. The supportplatform is coupled to the movable base and is articulable with respectto the movable base. The adaptor interface is coupled to and moves withthe support platform, and is configured to mechanically interface withan attachment member. The at least one sensor is coupled to the adaptorinterface, and is configured to detect at least one of a force ormovement resulting from an interaction between the adaptor interface andthe attachment member. The controller is operably coupled to the movablebase, support platform, and at least one sensor. The controller isconfigured to control movement of at least one of the movable base orsupport platform responsive to the at least one of the force or movementdetected by the at least one sensor. Each of the mobile fixtures isconfigured to concurrently engage a different portion of the attachmentmember via the corresponding adaptor interface, wherein the mobilefixtures are operably coupled to each other via the attachment member.

Certain embodiments of the present disclosure provide a method thatincludes providing a plurality of mobile fixtures, with each mobilefixture including a movable base configured to travel over a floor; asupport platform coupled to the movable base and articulable withrespect to the base; an adaptor interface coupled to and moving with thesupport platform, the adaptor interface configured to mechanicallyinterface with an attachment member; at least one sensor coupled to theadaptor interface and configured to detect at least one of a force ormovement resulting from an interaction between the adaptor interface andthe attachment member; and a controller operably coupled to the movablebase, support platform, and at least one sensor, the controllerconfigured to control movement of at least one of the movable base orsupport platform responsive to the at least one of the force or movementdetected by the at least one sensor. The method also includes engaging adifferent portion of the attachment member with each of the mobilefixtures via the corresponding adaptor interface, wherein the mobilefixtures are operably coupled to each other via the attachment member.Also, the method includes sensing, with the at least one sensor coupledto the adaptor interface of at least one of the mobile fixtures, atleast one of a force or movement resulting from an interaction betweenthe adaptor interface and the attachment member. Further, the methodincludes controlling, autonomously, movement of the at least one of themovable base or support platform of the corresponding at least one ofthe mobile fixtures responsive to the at least one of the force ormovement detected by the at least one sensor.

Certain embodiments of the present disclosure provide a mobile fixturecontroller that is configured to control operation of a mobile fixturethat includes a movable base configured to travel over a floor, asupport platform coupled to the movable base and articulable withrespect to the base, an adaptor interface coupled to and moving with thesupport platform, with the adaptor interface configured to mechanicallyinterface with an attachment member, and at least one sensor coupled tothe adaptor interface. The mobile fixture controller is configured to beoperably coupled to the movable base, support platform, and at least onesensor, and to receive an input from the at least one sensorcorresponding to at least one of a force or movement resulting from aninteraction between the adaptor interface and the attachment member;determine a planned movement of at least one of the movable base or thesupport platform to address the detected at least one of the force ormovement; and control movement of the at least one of the movable baseor support platform responsive to the at least one of the force ormovement detected by the at least one sensor pursuant to the plannedmovement.

Certain embodiments of the present disclosure provide a method thatincludes articulating a support platform of a mobile fixture withrespect to a movable base of the mobile fixture. The method alsoincludes coupling an adaptor interface of the mobile fixture to anattachment member. The adaptor interface is coupled to and moves withthe support platform of the mobile fixture, and the support platform iscoupled to the movable base of the mobile fixture. Further, the methodincludes sensing, with at least one sensor coupled to the adaptorinterface, at least one of a force or movement resulting from aninteraction between the adaptor interface and the attachment member. Themethod also includes controlling, with a controller, movement of atleast one of the movable base or support platform responsive to the atleast one of the force or movement detected by the at least one sensor.

Certain embodiments of the present disclosure provide a mobile fixturethat includes a movable base, a support platform, an adaptor interface,at least one sensor, and a controller. The movable base is configured totravel over a floor. The support platform is coupled to the movable baseand is articulable with respect to the base. The adaptor interface iscoupled to and moves with the support platform, and is configured tomechanically interface with an attachment member. The at least onesensor is coupled to the adaptor interface and is configured to detectat least one of a force or movement resulting from an interactionbetween the adaptor interface and the attachment member. The controlleris operably coupled to the movable base, support platform, and at leastone sensor, and is configured to control movement of at least one of themovable base or support platform responsive to the at least one of theforce or movement detected by the at least one sensor,

Certain embodiments of the present disclosure provide a method thatincludes providing a mobile fixture. The mobile fixture includes amovable base configured to travel over a floor; a support platformcoupled to the movable base and articulable with respect to the movablebase; an adaptor interface coupled to and moving with the supportplatform, the adaptor interface configured to mechanically interfacewith an attachment member; at least one sensor coupled to the adaptorinterface and configured to detect at least one of a force or movementresulting from an interaction between the adaptor interface and theattachment member; and a controller operably coupled to the movablebase, support platform, and at least one sensor, the controllerconfigured to control movement of at least one of the movable base orsupport platform responsive to the at least one of the force or movementdetected by the at least one sensor. The method also includes engaging aportion of the attachment member with the mobile fixture via thecorresponding adaptor interface, wherein the attachment member isoperably coupled to another mobile fixture. Further, the method includessensing, with the at least one sensor coupled to the adaptor interfaceof the mobile fixture, at least one of a force or movement resultingfrom movement of the attachment member. Also, the method includescontrolling, autonomously, movement of the at least one of the movablebase or support platform of the corresponding at least one of the mobilefixtures responsive to the at least one of the force or movementdetected by the at least one sensor.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 provides a schematic block view of a mobile fixture system,according to an embodiment of the present disclosure.

FIG. 2 provides a schematic block view of a mobile fixture for themobile fixture assembly of FIG. 1.

FIG. 3 provides a schematic side view of an example movable base thatincludes jacks in accordance with an embodiment of the presentdisclosure.

FIG. 4 provides a schematic perspective view of a mobile fixture formedin accordance with various embodiments.

FIG. 5 provides a schematic perspective view of a mobile fixture formedin accordance with various embodiments.

FIG. 6 provides a schematic view of a mobile fixture, according to anembodiment of the present disclosure.

FIG. 7 schematically depicts centering of a movable base and adaptorinterface with respect to each other, according to an embodiment of thepresent disclosure.

FIG. 8 schematically depicts control operations, according to anembodiment of the present disclosure

FIG. 9 schematically depicts distributed control operations, accordingto an embodiment of the present disclosure.

FIG. 10 illustrates a flow chart of a method, according to an embodimentof the present disclosure

FIG. 11 illustrates a flow chart of a method, according to an embodimentof the present disclosure.

FIG. 12 is a block diagram of aircraft production and servicemethodology.

FIG. 13 is a schematic perspective view of an aircraft.

DETAILED DESCRIPTION OF THE DISCLOSURE

The foregoing summary, as well as the following detailed description ofcertain embodiments will be better understood when read in conjunctionwith the appended drawings. As used herein, an element or step recitedin the singular and preceded by the word “a” or “an” should beunderstood as not necessarily excluding the plural of the elements orsteps. Further, references to “one embodiment” are not intended to beinterpreted as excluding the existence of additional embodiments thatalso incorporate the recited features. Moreover, unless explicitlystated to the contrary, embodiments “comprising” or “having” an elementor a plurality of elements having a particular property may includeadditional elements not having that property.

Various embodiments of the present disclosure utilize a distributedcontrol strategy for a team of independent robots (mobile fixtures). Forexample, a part or assembly may be mechanically supported andtransported by a team of robots. The robots are mechanically independentand provide coordinated material handling utilizing force feedback todetermine control inputs to move a part or assembly supported bymultiple robots. Optionally, pose of the part or assembly may bemaintained. Control strategies disclosed herein facilitate hand-guidinglarge parts or assemblies using a team of robotic fixtures. It may benoted that in various embodiments one or more mobile fixtures may workin conjunction with one or more fixed or stationary fixture or othercomponent(s).

Various embodiments of the present disclosure make it possible tosupport and transport large or unwieldy parts or assemblies (e.g.,fuselage or flight hardware for an aircraft) in a manufacturingenvironment using teams of independent multiple degree-of-freedom robots(mobile fixtures). Robust mobile robotic systems are utilized asassembly fixtures and conveyances. Various embodiments utilize controlsystems and methodologies discussed herein to enable movement of wholeflight hardware parts assemblies using hand guidance (e.g., manualinputs). Additionally, various embodiments provide leader and followermaterial handling robot systems without the use of traditional datanetworking.

FIG. 1 provides a schematic block diagram of a mobile fixture system100, and FIG. 2 provides a schematic block diagram of a mobile fixture110 that may be used in conjunction with the mobile fixture system 100.In various embodiments, the mobile fixture system 100 includes pluralmobile fixtures 110. For example, in the depicted example, the mobilefixture system 100 includes two mobile fixtures—a mobile fixture 110 aand a mobile fixture 110 b. While two mobile fixtures are depicted inFIG. 1 for clarity and ease of illustration, it may be noted that moremobile fixtures may be included as part of a mobile fixture system invarious embodiments.

In the illustrated example, the mobile fixture 110 a and mobile fixture110 b are configured to travel over a floor 102, with each attached toan attachment member 150. The attachment member 150 in variousembodiments is a part or assembly being transported and/or processedduring a manufacturing process. For example, the attachment member 150may be portion of an aircraft fuselage that is processed while supportedand held by the mobile fixture 110 a and the mobile fixture 110 b. Themobile fixture 110 a and mobile fixture 110 b may be used to transportthe portion of the fuselage to a location where portion is joined toother fuselage portions, and/or used to support or position the fuselageportion during a joining process.

As seen in FIG. 2, the depicted mobile fixture 110 (which may be used,for example, as mobile fixture 110 a or mobile fixture 110 b in FIG. 1)includes a movable base 120, a support platform 130, an adaptorinterface 140, at least one sensor 160, and a controller 170. Generally,the adaptor interface 140 is used to couple the mobile fixture 110 tothe attachment member 150, and the sensor 160 used to detect forcesacting upon and/or movements of the attachment member 150. Responsive tothe detected forces and/or movements, the controller 170 controls one ormore aspects of the mobile fixture 110 to respond to or account for thedetected forces and/or movements (e.g., the controller 170 articulatesthe support platform 130 and/or movable base 120 to translate the mobilefixture 110).

The movable base 120 is configured to travel over a floor 102. Themovable base 120 may include, by way of example, one or more of wheels,tracks, or runners to facilitate movement over the floor 102. Withreference to FIG. 1, the movable base 120 in various embodiments isconfigured to translate in lateral directions x and y (where y is intoor out of the page) over the floor. The movable base 120 in variousembodiments may be configured for holonomic motion over the floor 102.

In some embodiments, the movable base 120 may include jacks or othercomponents configured to secure the movable base 120 in place along thefloor 120. FIG. 3 provides a schematic side view of an example movablebase 120 that includes jacks 300 in accordance with various embodiments.The movable base 120 depicted in FIG. 3 also includes wheels 310 thatare configured to translate over the floor 102. The jacks 300 areconfigured to engage the floor 102 to maintain the movable base 120 in afixed position relative to the floor 102. When the jacks 300 areactivated and engaged with the floor 102, the wheels 310 are lifted fromthe floor 102 and the movable base 120 is secured in place on the floor102. In such a position or configuration, the movable base 120 does notmove along the floor 102. When the jacks 300 are deactivated and notengaged with the floor 102, the wheels 310 contact the floor 102 and maybe used (e.g., driven by a motor responsive to commands from thecontroller 170) to translate the movable base 120 along the floor 102.The jacks 300 are shown deactivated in FIG. 3, with the wheels 310contacting the floor 102.

The jacks 300 and wheels 310 (e.g., motors that drive the wheels) may becontrolled using command signals from the controller 170. In variousembodiments, for example, the controller 170 is configured to disengagethe jacks 300 from the floor 102 to move the movable base 120 from afixed configuration (where the movable base 120 does not move along thefloor 102) to a movable configuration (where the movable base 120 may bemoved along the floor 102) responsive to a detected at least one of aforce or movement detected by the sensor 160 that results from aninteraction between the adaptor interface 140 and the attachment member150. For example, if a lateral force is detected having a sufficientmagnitude to indicate an approaching risk of tipping over of the mobilefixture 110 when the mobile fixture 102 is in the fixed configuration,the controller 170 may disengage the jacks 300 and actuate the wheels302 to move the movable base 120 in an appropriate direction to addressthe applied force (e.g., move the mobile fixture 110 in the direction ofthe force. Additionally or alternatively to one or more jacks, one ormore locking mechanisms may be used in connection with the wheels toplace the mobile fixture 110 in the fixed configuration. It may be notedthat high-speed jacks and/or high-torque wheels may be used in variousembodiments, for example to allow for quick transitions from a fixedconfiguration to a mobile configuration. Further still, in variousembodiments, a switch from a fixed configuration to a movableconfiguration (e.g., from jacks to wheels) may be triggered via a buttonor other manual input provided by an operator.

Returning to FIG. 2, the depicted support platform 130 is coupled to themovable base 120 and is articulable with respect to the movable base120. For example, with reference to FIG. 1, the support platform 130 maybe movable with respect to the movable base in the z-direction. In someembodiments, the support platform 130 may be coupled to a tower or otherstructure coupled to the movable base 120, with the support platformtraversing the z-direction along the tower. Additionally oralternatively, the support platform 130 may be articulable in the xand/or y directions with respect to the movable base 120.

FIGS. 4 and 5 illustrate example mobile fixtures 400 formed inaccordance with various embodiments, showing examples of types ofmovements or articulations provided by or between a support platform anda base in various embodiments. FIG. 4 provides a schematic perspectiveview of a mobile fixture 400 including a movable base 420, and supportplatform 430, and FIG. 5 provides a view of the mobile fixture 400including a mounting plate 434. It may be noted that the mounting plate434 is not shown in FIG. 4. The mobile fixture 400 may incorporate oneor more aspects of the mobile fixture 110 discussed herein, and providesan example of a mobile fixture 110. The depicted mobile fixture 400provides an omnidirectional robot that is configured to utilize a tower422 to lift, support, and/or position, for example, a part or assembly.The tower 422 (e.g., via mounting plate 434) is configured to interfacewith a dedicated tool for locating and supporting a perimeter, edge, orother portion of the part or assembly.

As seen in FIG. 4, the movable base 420 is located at the bottom of themobile fixture 400, and houses one or more components configured tohouse components for moving the movable base along one or more of thex₀, y₀, and z₀ directions (e.g., wheels for movement along the x₀ and y₀directions, jacks for movement along the z₀ direction). The movable base420 in various embodiments is provided to provide omnidirectionalmovement as well as stability to the mobile fixture 400.

The depicted mobile fixture 400 includes a tower 422 mounted to themovable base 420. The depicted movable base 420 includes rails 425, 426to allow lateral movement of the tower 422 with respect to the movablebase 420, and vertical rails 427 to allow elevational or verticalmovement of the tower 422 with respect to the movable base 420.Accordingly, the tower 422 may move with respect to the movable base 420along the x1 and/or y1 directions, and the support platform 430 may movewith respect to the tower 422 (and movable base 420) in the z1direction. In other embodiments, the tower 422 may be fixed to themovable base 420 such that only the movement along the vertical rails427 is provided via the tower 422.

The depicted support platform 430 includes a support frame 432 and amounting plate 434. The depicted support frame 432 is coupled to thetower 422 along the vertical rails 427, and configured to move up anddown along the tower 422 via the vertical rails 427. The mounting plate434 in the example of FIG. 5 is coupled to the support frame 432, anddisposed above and supported by the support frame 432. Generally, themounting plate 434 is configured to be coupled to an assembly or partbeing held by the mobile fixture (either directly or indirectly). Forthe example depicted in FIG. 4, the mounting plate 434 is verticallyoriented and mounted to the tower 422, with a tool adaptor 435 mountedto the mounting plate 434. The tool adaptor 435 of the example of FIG. 4includes four arms or shelves that extend horizontally and areconfigured to interact or cooperate with the attachment member to securethe attachment member to the tool adaptor 435. The mounting plate 434 invarious embodiments is movable in the x₁ and y₁ directions with respectto the support frame 432 (which in turn is movable in the z₁ directionwith respect to the tower 422). For example, the mounting plate 434 maybe mounted to the support frame 432 via one or more of pins, tracks,slides, grooves, threaded rods or the like that allow motion between themounting plate 434 and the support platform 432. Alternatively oradditionally, the mounting plate 434 may be able to rotate (e.g., abouta z-axis) with respect to the support frame 432. The mounting plate 434in turn may have mounted thereto a tool adaptor (e.g., adaptor interface140 or a portion thereof, not shown in FIG. 5) that couples to anassembly or part being held by the mobile fixture 400. The supportplatform 430, along with sensor and/or actuator subsystems (not shown inFIG. 5) may be referred to as an end effector 439. The end effector 439is configured as an upper portion of the mobile fixture 400 that definesthe precise movement and positioning of the mounting plate 434.

Returning to FIG. 2, the depicted adaptor interface 140 is coupled toand moves with the support platform 130. In some embodiments, theadaptor interface 140 may be fixedly mounted to the support platform130, while in other embodiments the adaptor interface 140 may be capableof additional movement independent of the support platform 130. Theadaptor interface 140 is configured to mechanically interface with theattachment member 150. For example, the adaptor interface 140 mayinclude one or more jaws that grasp or otherwise secure the attachmentmember 150 to the adaptor interface 140. As additional example, one ormore fasteners may be used to couple the attachment member 150 to theadaptor interface 140, or the adaptor interface 140 may include a magnetfor coupling to a metallic attachment member 150. Generally, the adaptorinterface 140 is configured to releasably secure the attachment member150 to the mobile fixture 110. For example, after a part or assembly nolonger requires support or positioning from the mobile fixture 110, theadaptor interface 140 may release the attachment member 150. It may benoted that the adaptor interface 140, while depicted as a single blockin FIG. 2, may include more than one physical portion in variousembodiments. For example, in some embodiments, the adaptor interface 140may include both a mounting plate (that couples to the mobile fixture)and a tool adaptor, with the tool adaptor coupled to the mounting plateand the attachment member 150. In other embodiments, the mounting platemay have an interface integrally designed or fabricated on to themounting plate, making the tool adaptor either optional or unnecessary(e.g., depending on what type of attachment member were being handled bythe mobile fixture 110).

As best seen in FIG. 1, in various embodiments, each of the mobilefixtures (e.g., mobile fixture 110 a and mobile fixture 110 b) isconfigured to concurrently engage a different portion of the attachmentmember via a corresponding adaptor interface (e.g., adaptor interface140 a of mobile fixture 110 a, and adaptor interface 140 b of mobilefixture 110 b). Accordingly, the mobile fixtures 110 a, 110 b areoperably coupled to each other via the attachment member 150.

With continued reference to FIG. 2, the mobile fixture 110 includes asensor 160. In various embodiments, the mobile fixture 110 includesmultiple sensors. The depicted sensor 160 is coupled to the adaptorinterface 140, and is configured to detect at least one of a force ormovement resulting from an interaction between the adaptor interface 140and the attachment member 150. For example, when the adaptor interface140 is coupled to the attachment member 150, any movement (or attemptedmovement) of the attachment member 150, or any force applied to theattachment member 150, will result in a corresponding movement or forceon the adaptor interface 140 due to an interaction between theattachment member 150 and the adaptor interface 140, as they are coupled(e.g., physically attached or mechanically coupled). In the illustratedembodiment, the sensor 160 communicates any detected forces and/ormotions to the controller 170. Additionally, in various embodiments,sensors may be utilized that localize one or more mobile fixtures withina world frame and/or with respect to one or more other mobile fixturesmay be utilized to provide feedback to the controller 170.

Various different types of sensor may be used. For example, a forceand/or torque sensor may be used. As another example, a tilt sensor maybe employed. As another example, in embodiments where a motor isemployed to actuate the support platform 130 or aspect thereof, an axisencoder (e.g., servo feedback encoder or other rotary encoder, angleencoder) may be employed. Linear encoders may also be utilized invarious embodiments. It may be noted that in various embodiments, thesensor 160 may be associated with an actuator, such as an encoder thatis associated with a motor. The use of force sensor, load sensor, torquesensor, axis encoder, accelerometer, and/or tilt sensor in variousembodiments provide for reliable, convenient detection of forces andmovements resulting from the interaction between the adaptor interface140 and the attachment member 150.

The controller 170 of the illustrated example is operably coupled to themovable base 120, to the support platform 130, and to the sensor 160.For example, the controller 170 may be coupled to one or more sensors160 via one or more corresponding wires, cables, or other communicativepathway to receive information from the one or more sensors 160. Asanother example, the controller 170 may be coupled to the movable base120 and support platform 130 via communicative pathways to correspondingactuators (e.g., end effector actuator 180) coupled to the movable base120 and support platform 130, with the controller 170 providing controlsignals to the actuators to translate the movable base 120 and/orsupport platform 130 (or aspects thereof such as mounting plate 434). Itmay be noted that the controller 170 may be mounted to the movable base120 or to the support platform 130 in various embodiments.Alternatively, the controller 170 may be mounted elsewhere, such as inremote or detachable unit. It may further be noted that in someembodiments, the controller 170 may include multiple controller portionsthat are physically separate units.

The depicted controller 170 is configured (e.g., programmed) to controlmovement of at least one of the movable base 120 or support platform 130responsive to the at least one of the force or movement detected by thesensor 160 (or sensors 160). For example, after receiving informationdescribing a force acting on the adaptor interface 140, the controllermay determine, based on a direction of the force, a direction in whichto move adaptor interface 140 by moving one or both of the movable base120 or support platform 130. For example, the controller may determine acontrol action so that the adaptor interface 140 moves in a direction toreduce or alleviate the force acting on the adaptor interface 140 (e.g.,to move the adaptor interface in the direction in which the appliedforce is urging the adaptor interface. The amount of the movement may bedetermined based on the magnitude of the detected force, and/or based onongoing detection of the determined force (e.g., the adaptor interface140 is moved until the force is zero or falls beneath a threshold ofacceptable or tolerable force on the adaptor interface 140). Thedetermined control signal may then be communicated to actuators (e.g.,end effector actuator 180) for articulating the movable base 120 and/orsupport platform 130. In some embodiments, the controller 170 isconfigured to articulate the adaptor interface 140 (e.g., via movementof the movable base 120 and/or support platform 130) responsive to adetected force satisfying a threshold. By using a threshold force value,unnecessary movements may be avoided that would otherwise be caused byinsubstantial forces impacting the adaptor interface 140.

It may be noted that the controller 170, while depicted as a singlephysical unit for ease of illustration, may include multiple physicalunits or devices in various embodiments. In various embodiments thecontroller 170 includes processing circuitry configured to perform oneor more tasks, functions, or steps discussed herein. As also discussedabove, it may be noted that “processing unit” as used herein is notintended to necessarily be limited to a single processor or computer.For example, the controller 170 may include multiple processors, ASIC's,FPGA's, and/or computers, which may be integrated in a common housing orunit, or which may distributed among various units or housings. It maybe noted that operations performed by the controller 170 (e.g.,operations corresponding to process flows or methods discussed herein,or aspects thereof) may be sufficiently complex that the operations maynot be performed by a human being within a reasonable time period. Inthe illustrated embodiment, the controller 170 includes a tangible,non-transitory memory 172 for storage of, among other things,instructions for causing the controller 170 to perform one or more stepsor tasks discussed herein.

It may be noted that in various embodiments, the controller 170 may notbe used for supervisory control and/or may not connected to a network.For example, the controller 170 in various embodiments is configured toautonomously (e.g., perform automatically without human intervention orcommunication from any other mobile fixture) control movement of atleast one of the movable base 120 or support platform 130 responsive tothe detected at least one of a force or movement associated with themovement of the attachment member 150. Accordingly, the controller 170may coordinate movement of the attachment member 150 along with at leastone other mobile fixture. For example, with reference to FIG. 1, themobile fixture 110 a and mobile fixture 110 b may be communicativelyisolated from each other (e.g., not configured to communicateinformation therebetween). The mobile fixture 110 a may be moved in agiven direction (e.g., in a predetermined direction along which theattachment member 150 is to be moved as part of a processing and/ortransportation process, for example to position the attachment member150 in a new position for an additional processing step, and/or to movethe attachment member 150 to a new location), resulting in an associatedforce on the attachment member 150 which is detected by mobile fixture110 b (e.g., by one or more sensors of mobile fixture 110 b). Acontroller of mobile fixture 110 b then controls (without anycommunicated command signals from mobile fixture 110 a) the movable baseor support platform of the mobile fixture 110 b to move responsive tothe force (e.g., in the same direction that the force is detected asimposing on an adaptor interface of the mobile fixture 110 b).

Accordingly, the movement of the mobile fixture 110 a, attachment member150, and mobile fixture 110 b may be coordinated to move in a commondirection at a common velocity, without any communication between themobile fixture 110 a and mobile fixture 110 b. By having one or mobilefixtures that control movement of the adaptor interface 140 (viamovement of the movable base 120 and/or support platform 130) withoutany input or intervention from other mobile fixtures, variousembodiments avoid the complexity required to have multiple units allwired together or joined to a central network that has to plan andprovide coordinated control commands to all of the units. Accordingly,both planning and implementation of movements of the attachment member150 may be simplified, and made more efficient and reliable.

FIG. 6 provides a schematic block view of a mobile fixture 600 formed inaccordance with various embodiments. The mobile fixture 600 in variousembodiments incorporates and/or represents one or more aspects of themobile fixture 110 discussed herein. As seen in FIG. 6, the depictedexample mobile fixture 600 includes a base 620, end effector 630,mounting plate 640, and tool adaptor 650. The mobile fixture 600 isdisposed on a factory floor 602 and is configured to be coupled to apart or assembly 604.

The base 610 is configured to translate across the factory floor 602 toprovide gross articulation of the mobile fixture 600. The base 610, forexample, may include wheels and/or jacks. When the wheels are engaged,the base 610 may be controlled to move along the x₁, y₁, and rz₁directions, but any movement along rx₁, ry₁, and z₁ are produced byfloor topography. When the jacks are engaged, movement along rx₁, ry₁,and rz₁ may be controlled. In other embodiments, for example, wheels andjacks may be combined along with a fully-actuated, active suspension,allowing for movement in all directions.

The depicted end effector 630 is coupled to the base 620 and isconfigured to provide fine articulation of the mounting plate 640 withrespect to the end effector 630 (and base 620). For example, the endeffector may include one or more of mechanical rails, ballscrews, orlinear actuators. In some embodiments, the motion between the mountingplate 640 and the end effector 630 may include controlled motion alongthe x₁, y₁, and z₁ directions, with floating motion along the rz₁direction. In other embodiments, full six degree of freedom manipulatorsmay be utilized providing controllable motion along all six dimensionsdepicted in the coordinate axes of FIG. 6.

In the illustrated example, the tool adaptor 650 is mounted to themounting plate 640. The tool adaptor 650 is configured to grasp orotherwise be physically coupled to the part or assembly 604. In theillustrated embodiment, the tool adaptor 650 is configured to providefor some motion between the tool adaptor 650 and the part or assembly604. For example, the tool adaptor 650 may include u-joints to providefloating rotational motion between the tool adaptor 650 and the part orassembly 604 along the rx₁ and ry₁ directions.

Returning to FIGS. 1 and 2, in various embodiments, the mobile fixturesystem 100 includes a lead mobile fixture and at least one follow mobilefixture. For example, in an illustrative example, the mobile fixture 110a may be configured as a lead mobile fixture and the mobile fixture 110b may be configured as a follow mobile fixture. The controller 170 ofthe lead mobile fixture 110 a is configured to receive a movementcommand input, and to perform a movement of the attachment memberresponsive to the movement command input. The movement command input,for example, may include one or more control signals communicated to thecontroller 170 (e.g., via an input device dispose on the mobile fixture110 a that is configured to receive a control command from an externalsource, such as a keypad or joystick configured to receive a controlcommand from a human operator, or a communication link (e.g., antenna)configured to receive an electronic control command from an off-boardcontroller or processor). As another example, the movement command inputmay include a physical or manual input exerting a force on a portion ofthe lead mobile fixture 110 a that is detected by one or more sensors160 of the lead mobile fixture 110 a. Responsive to the performedmovement, the controller of the follow mobile fixture 110 b autonomously(e.g., without human intervention or digitally or otherwise electricallycommunicated instruction) controls movement of the movable base 120and/or support platform 130. For example, one or more sensors 160 of thefollow mobile fixture 110 b may detect a force imparted on the adaptorinterface 140 of the follow mobile fixture 110 b, and the controller 170of the follow mobile fixture 110 b may control its movement in responseto the detected force. Accordingly, the movement of the follow mobilefixture 110 b is coordinated with respect to the lead mobile fixture 110a, without the lead mobile fixture 110 a communicating movement commandsto the follow mobile fixture 110 b (e.g., without communication ofcontrol signals to the controller 170 of the follow mobile fixture 110b).

It may be noted that in some embodiments, the mobile fixtures 110 areselectively switchable between being configured as the lead mobilefixture and being configured as a follow mobile fixture. Accordingly,one mobile fixture may act as the lead mobile fixture during one part ofa process, while a different mobile fixture may act as the lead mobilefixture during a different part of the process. For example, an inputdevice configured to receive an external movement command may beun-coupled from the mobile fixture 110 a and coupled to the mobilefixture 110 b to make the mobile fixture 110 b the lead mobile fixture.As another example, an input device configured to receive an externalmovement command disposed on the mobile fixture 110 a may be deactivatedand an input device configured to receive an external movement commanddisposed on the mobile fixture 110 b may be activated to make the mobilefixture 110 b the lead mobile fixture.

Returning to FIG. 2, the depicted mobile fixture 110 includes an endeffector actuator 180 interposed between the adaptor interface 140 andthe movable base 120. The controller 170 is configured to articulate theadaptor interface 140 relative to the movable base via the end effectoractuator 180. It may be noted that the end effector actuator 180 mayarticulate the adaptor interface 140 directly (e.g., by acting directlyon the adaptor interface) or indirectly (e.g., by acting on the supportplatform 130 with the adaptor interface 140 moving with the supportplatform 130).

In the illustrated embodiment, the mobile fixture 110 includes two endeffector actuators 180 a and 180 b. The end effector actuator 180 a isinterposed directly between the movable base 120 and the supportplatform 130, and movably couples the movable base 120 with the supportplatform 130. The end effector actuator 180 b is interposed directlybetween the adaptor interface 140 and the support platform 130 (andindirectly between the adaptor interface 140 and the movable base 120)and movably couples the adaptor interface 140 with the support platform130. For example, the movable base 120 may be controlled (e.g., viawheels driven by a motor) to provide gross articulation, while the endeffector actuator 180 a may be controlled to provide fine articulationof the support platform 130 with respect to the movable base. (It may benoted that while the end effector actuator 180 a is illustrated as asingle block for ease and clarity of illustration, the end effectoractuator 180 a in various embodiments may include plural components(e.g., motors, linear drives, wheels, corresponding rails or tracks)configured to actuate the support platform 130 in multiple directionswith respect to the movable base 120. Further, in some embodiments, theend effector actuator 180 b may be used to provide even furtheradjustment of the adaptor interface 140 with respect to the supportplatform 130.

Various different actuators may be employed in various embodiments. Forexample, motors may be used to drive wheels of the movable base 120. Asadditional examples, one or more of mechanical rails, ballscrews (e.g.,driven by a motor), or linear actuators may be utilized to translate thesupport platform 130 relative to the movable base 120 and/or the adaptorinterface 140 relative to the support platform 130.

Various movements of the movable base 120 and support member 130 may becoordinated with each other. For example, in some embodiments, thecontroller 170 is configured to articulate the adaptor interface 140relative to the movable base 120 responsive to the detected at least oneforce or movement, and to move the movable base 120 along the floor 102responsive to the articulation of the adaptor interface 140. Based onthe articulation of the adaptor interface 140, the controller 170 movesthe movable base 120 (e.g., via control commands to one or more motorsdriving wheels of the movable base 120) to urge the movable base 120toward a centered position with respect to the adaptor interface 140.For example, FIG. 7 schematically depicts an articulation of the movablebase 120 and adaptor interface 140 with respect to each other. As seenin FIG. 7, the adaptor interface 140 and movable base 120 are in a firstposition 700 with both shown in solid lines. For example, the adaptorinterface 140 has been articulated to the first position 700, which isnot centered with respect to the movable base 120. A centered positionmay be understood as a position at which the adaptor interface is in amiddle of one or more ranges of motion available to the adaptorinterface 140 with respect to the movable base 120. Responsive to themotion by the adaptor interface 140, the controller 170 next articulatesthe movable base in direction 702 to the second position 710 (while alsomaintaining the adaptor interface 140 in the same position, with themovable base 120 and adaptor interface 140 accordingly moving relativeto each other as the movable base 120 articulates from the firstposition 700 to the second position 710), with the movable base 120shown in phantom lines at the second position 710.

At the second position 710, the movable base 120 is in a centeredposition, with the adaptor interface 140 disposed in the middle of anavailable range 720 representing the amount of movement available to theadaptor interface 140 relative to the movable base 120 along thedirection 702. It may be noted that the available range 720 is shown forease of illustration as sharing boundaries with the movable base 120;however, in practice the available range 720 may differ from theboundaries of the movable base 120. It may further be noted that theillustrative example discussed in connection with FIG. 7 depictsmovement in only a single direction; however, in various embodimentsmovement in multiple directions (e.g., one or more of lateral, vertical,or rotational) may be controlled to center the adaptor interface 140with respect to the movable base 120. By controlling the movable base120 to place the movable base in a centered position, variousembodiments provide flexibility for movement in multiple directions andminimize risk of the adaptor interface 140 being positioned at an end ofits available range with respect to the movable base 120, allowingmovable base 120 and adaptor interface 140 to efficiently cooperate toprovide gross articulation by the movable base 120 and fine articulationby the adaptor interface 140.

In various embodiments, the controller 170 is configured to selectivelyoperate the mobile fixture 110 in a variety of modes. The controller 170may be switched manually and/or autonomously between or among modes invarious embodiments. For example, in some embodiments, the modes ofoperation in which the controller 170 operates the mobile fixture 110include a carry mode, a stationary mode, and a compliance mode.

When in the carry mode, the controller 170 is configured to articulatethe adaptor interface 140 relative to the movable base 120 (e.g., bymoving the adaptor interface 140 relative to the support platform 130and/or moving the support platform 130 relative to the movable base)responsive to the force or movement detected by the sensor 160, and tomove the movable base 120 along the floor responsive to the articulationof the adaptor interface to urge the movable base 120 into a centeredposition with respect to the adaptor interface 140. (See FIG. 7 andrelated discussion.)

When in stationary mode, the controller 170 is configured to maintainthe movable base in a fixed position relative to the floor 102. Forexample, the controller 170 may control jacks (e.g., jacks 300) toengage the floor 102 and lift wheels or tracks of the movable base 120from the floor. In the stationary mode, the adaptor interface 140 maystill be moved relative to the movable base 120 to re-position theattachment member 150 (e.g., vertically and/or a relatively smallerdistance horizontally or laterally), but the movable base 120 is fixedin place relative to the floor 102. To move the mobile fixture 110, thejacks may be deactivated and the wheels placed in contact with the floor102 and the controller 170 may leave the stationary mode and enter adifferent mode of operation. As another example, the controller 170 mayactuate a locking mechanism that engages the floor 102 or otherstructure. For example, a pin may be advanced into an opening of tabs onthe floor 102 or other structure to secure the mobile fixture 110 in adesired position. To move the mobile fixture, the pin may be retractedfrom the opening. The stationary mode may be utilized, for example, toprovide increased stability during a manufacturing or assembly processwhen little or no lateral motion is required.

When in the compliance mode, the controller is configured to articulatethe adaptor interface 140 responsive to a manual input. For example, amanual input in various embodiments may include the manual applicationof force to the adaptor interface in a desired direction. As anotherexample, a manual input may include a command entered via a keypad,joystick, or other data entry device.

It may be noted that in various embodiments the controller 170 may beswitched between modes manually and/or autonomously. For example, anoperator may use a switch or keypad to place the controller 170 in agiven mode. As another example, the controller 170 may autonomouslyswitch modes, for example responsive to a type and/or amount of detectedforce. For example, the controller 170 in various embodimentsautonomously removes the mobile fixture 110 from the stationary moderesponsive to at least one of a detected force or movement satisfying athreshold. By way of example, a force threshold may be set such that themobile fixture 110 is removed from the stationary mode to a differentmode in which the movable base 120 may move along the floor 102 before arisk of tipping is encountered. As another example, a movement thresholdmay be set such that the mobile fixture 110 is removed from thestationary mode to a different mode allowing movement of the movablebase 120 along the floor 102 when the adaptor interface 140 approacheswithin a predetermined range of a limit on its range of motion in agiven direction. Accordingly, by switching the mobile fixture 110autonomously from the stationary mode, the controller 170 helps to avoiddamaging portions of the mobile fixture 110 and/or the attachment member150.

FIG. 8 schematically depicts control systems aspects of a mobile fixturein accordance with various embodiments. A mobile fixture 800 (which mayincorporate or represent one or more aspects of mobile fixture 110includes sensors 810, robotic fixture actuators 820, and motors 830.

The sensors 810 generally detect a force and/or moment associated with apart or assembly being held by the mobile fixture 800. For example,force (or torque) sensors may detect a force (or moment) at a couplingto the part or assembly. As another example, axes encoders may detect anaxis stroke position. As one more example, a jack system or active wheelsuspension system may report a tilt (e.g., an angular deviation from apredetermined target position or orientation) and/or automaticallycompensate for a detected tilt.

The robotic fixture actuators 820 may include, for example, end effectormotors that articulate a mounting plate or other aspect of a supportplatform and/or adaptor interface. The robotic fixture actuators 820,responsive to the receipt of information from one or more sensors (e.g.,encoders), may actuate (e.g., under control of controller 170) tomanipulate the position of a mounting plate. Because the part orassembly is physically or mechanically coupled to the mounting plate,the part or assembly is moved by the robotic fixture actuators 820indirectly when the mounting plate is moved.

FIG. 9 schematically depicts distributed control aspects of a mobilefixture (e.g., mobile fixture 110) in accordance with variousembodiments. FIG. 9 depicts a schematic representation of a distributedcontrol strategy from the perspective of an individual mobile fixture.The control is distributed, for example, with the individual mobilefixture cooperating with other mobile fixtures to support and/or move anassembly or part, but with the individual mobile fixture responsible forits own control and not receiving (or providing) any communicatedcommands from other mobile fixtures.

In the example of FIG. 9, control commands are received by the controlsystem 900. For example, control inputs 902 may include a target axisposition and/or target force/torque. Based on the control inputs 902(along with feedback information 910 that includes signals from one ormore of axis position encoders, force/torque sensors, and/or tiltsensors), the control system 900 develops command signals 904 to actuateone or more aspects of the mobile fixture (e.g., actuator command, jackcommands, or wheel commands) to articulate a movable base, supportplatform, and/or mounting plate.

The commands are then provided to the mounting plate and base in theillustrated embodiment at 906. Additionally, inputs 908 may be acquiredrelated to the mounting plate and/or base. The inputs 908 representphysical interactions acting upon the mounting plate and/or base, forexample due to the movement of a part or assembly to which the mountingplate is coupled, or due to topography of a floor that the basetraverses. The controlled articulation of the mounting plate and/or baseproduces an output 912 in the form of a position of a tool adaptor thatis mounted to the mounting plate (and, consequently, in the position ofa part or assembly grasped by the tool adaptor).

FIG. 10 illustrates a flowchart of a method 1000. The operations of FIG.10 may be implemented by one or more processors (e.g., controller 170)executing program instructions stored in memory (e.g., memory 172). Themethod 1000, for example, may employ structures or aspects of variousembodiments (e.g., systems and/or methods) discussed herein, such as thesystem 100 and/or mobile fixture 110. In various embodiments, certainsteps (or operations) may be omitted or added, certain steps may becombined, certain steps may be performed simultaneously, certain stepsmay be performed concurrently, certain steps may be split into multiplesteps, certain steps may be performed in a different order, or certainsteps or series of steps may be re-performed in an iterative fashion. Invarious embodiments, portions, aspects, and/or variations of the method1000 may be used as one or more algorithms to direct hardware to performone or more operations described herein.

At 1002, a support platform (e.g., support platform 130) of a mobilefixture (e.g., mobile fixture 110) is articulated with respect to amovable base (e.g., movable base 120) of the mobile fixture. Forexample, the support platform may be articulated to a desired positionat which the mobile fixture will be used to grasp a part or assembly tosupport and/or position or transport the part or assembly.

At 1004, an adaptor interface (e.g., adaptor interface 140) of themobile fixture is coupled to an attachment member (e.g., part orassembly to be held and/or transported by the mobile fixture). Theadaptor interface is coupled to and moves with the support platform(which is in turn coupled to the movable base). The adaptor interfacemay also be configured for additional movement with respect to thesupport platform, for example to provide for fine adjustment of theposition of the adaptor interface.

In some embodiments, multiple mobile fixtures may be utilized. Forexample, in the illustrated example, at 1006, an adaptor interface of atleast one additional mobile fixture is coupled to the attachment member.The number of mobile fixtures utilized may be determined based on thesize of the part or assembly and/or on the types of motions that thepart or assembly will undertake while held by the mobile fixtures.

At 1008, at least one of a force or movement resulting from aninteraction between the adaptor interface and the attachment member issensed with a sensor (e.g., sensor 160). The at least one of the forceor movement may be detected, for example, using at least one of a forcesensor, torque sensor, axis encoder, or tilt sensor.

At 1010, movement of at least one of the movable base or supportplatform is controlled, with a controller (e.g., controller 170),responsive to the at least one of the force or movement detected by theat least one sensor. For example, the controller may determine amovement based on a detected force (e.g., determine a movement to movethe movable base and/or support platform in a direction in which thedetected force is acting to reduce or eliminate the detected force), andimplement the determined movement via control signals to one or moreactuators associated with the movable base and/or support platform.

As discussed herein, in various embodiments, multiple mobile fixturesare utilized. In the illustrated embodiment, at 1012, the movement ofthe support platform is controlled to coordinate movement between themobile fixture and the attachment member to which it is coupled withmovement of at least one additional mobile fixture coupled to theattachment member, without communicating commands to adjust theattachment member to the at least one additional mobile fixture.

The movement of the movable base and/or the support platform may beperformed using an actuator such as a motor or drive. For example, inthe illustrated embodiment, at 1014, an end effector actuator (e.g., endeffector actuator 180) is controlled to articulate the adaptor interfacerelative to the movable base. In various embodiments, the end effectoractuator is interposed between the adaptor interface and the movablebase.

In some embodiments, the movable base and/or support platform areconfigured to help maintain the movable base at or near a centeredposition with respect to the adaptor interface. For example, in theillustrated embodiment, at 1016, after the adaptor interface is movedrelative to the movable base responsive to the detected force or motion,the movable base is moved along the floor responsive to the articulationof the adaptor interface to urge the base toward a centered positionwith respect to the adaptor interface.

The mobile fixture may be operated under various modes of operation,with each mode of operation tailored for optimal performance of varioustasks or under particular conditions to which the mobile fixture issubjected. For example, the mobile fixture may be selectively operatedin one of at least three different modes. The modes include a carry mode(in which the adaptor interface is articulated responsive to a force ormovement, and the movable base is moved along a floor responsive to thearticulation of the adaptor interface to move the base into or toward acentered position with respect to the adaptor interface), stationarymode (in which the movable base is maintained in a fixed positionrelative to the floor), and compliance mode as discussed herein.

For example, in the compliance mode, the adaptor interface isarticulated responsive to a manual input. It may be noted that, inaddition to a manual input, the adaptor interface may also bearticulated responsive to any detected force or movement. Further, invarious embodiments, in the compliance mode, the adaptor interface isarticulated responsive to a detected force that exceeds a minimumthreshold. To illustrate, a person seeking to adjust a position of anattachment member relative to a support platform on which the attachmentmember is placed, in the compliance mode, may apply a force manually tothe support platform in a given direction that exceeds a threshold of 10pounds, for example. The applied force would be sensed by the sensor andprovide an input to the controller for activating drive mechanisms tomove the support platform for adjusting the position of the attachmentmember. In situations where an attachment member may be an aircraftstructural assembly having a weight of hundreds of pounds, a minimalforce manually applied to the support platform in the compliance modewould enable one to utilize the drive mechanisms to adjust the supportplatform and/or attachment member, without the user having to lift orsupport the weight of the attachment member.

In the stationary mode, the movable base is maintained in a fixedposition, or fixed configuration, relative to the floor. In variousembodiment, the mobile fixture may be autonomously moved from a fixedconfiguration to a movable configuration (e.g., where wheels contact thefloor and translate the mobile fixture along the floor) responsive to adetected force or movement. For example, in some embodiments, the mobilefixture is autonomously moved from the stationary mode responsive to thedetected force or movement satisfying a threshold (e.g., exceeding aforce limit lower than a force required to tip the mobile fixture over).

FIG. 11 illustrates a flowchart of a method 1048. The operations of FIG.11 may be implemented by one or more processors (e.g., controller 170)executing program instructions stored in memory (e.g., memory 172). Themethod 1048, for example, may employ structures or aspects of variousembodiments (e.g., systems and/or methods) discussed herein, such as thesystem 100 and/or mobile fixture 110 and/or method 1000). In variousembodiments, certain steps (or operations) may be omitted or added,certain steps may be combined, certain steps may be performedsimultaneously, certain steps may be performed concurrently, certainsteps may be split into multiple steps, certain steps may be performedin a different order, or certain steps or series of steps may bere-performed in an iterative fashion. In various embodiments, portions,aspects, and/or variations of the method 1048 may be used as one or morealgorithms to direct hardware to perform one or more operationsdescribed herein.

At 1050 a mobile fixture (e.g., mobile fixture 110 including movablebase 120, support platform 130, adaptor interface 140, sensor 160, andcontroller 170) is provided. The mobile fixture includes an adaptorinterface (e.g., adaptor interface 140) that is configured tomechanically interface with an attachment member, and a controller(e.g., controller 170) that controls movement of the movable base and/orsupport platform responsive to a detected force or movement that resultsfrom an interaction between the adaptor interface and the attachmentmember. In some embodiments, plural mobile fixtures are provided.

At 1052, a portion of the attachment member is engaged by the adaptorinterface. The attachment member is also engaged by one or more othermobile fixtures. In some embodiments, one mobile fixture is configuredas a lead mobile fixture and the remaining mobile fixture (or fixtures)is configured as a follow mobile fixture (or follow mobile fixtures).For example, in the illustrated embodiment, at 1054, one mobile fixtureis configured as a lead mobile fixture and the rest configured as followmobile fixture(s). A movement command input may be received by the leadmobile fixture, which then performs a movement responsive to themovement command input, with the movement affecting the attachmentmember (e.g., moving the attachment member and/or imparting a force ortorque upon the attachment member). The control of the follow mobilefixture(s) may then be autonomously controlled by the respective followmobile fixture(s) responsive to the force or movement of the attachmentmember. Accordingly, the movement of the follow mobile fixture(s) arecoordinated with lead mobile fixture without any movement commands beingcommunicated to the follow mobile fixture(s).

At 1056, at least one of a force or movement resulting from a movement(including an attempted movement in various embodiments) of theattachment member is sensed (e.g., by sensor 160). At 1058, the movementof the mobile fixture (e.g., movable base and/or support platform) iscontrolled autonomously responsive to the force or movement detected at1056. For example, as also discussed above, the movement detected by afollow mobile fixture may result from a control action implements by thelead mobile fixture.

Examples of the disclosure may be described in the context of anaircraft manufacturing and service method 1100 as shown in FIG. 12 andan aircraft 1200 as shown in FIG. 13. During pre-production,illustrative method 1100 may include specification and design 1102 ofthe aircraft 1200 and material procurement 1104. During production,component and subassembly manufacturing 1106 and system integration 1108of the aircraft 1200 take place. Thereafter, the aircraft 1200 may gothrough certification and delivery 1110 to be placed in service 1112.While in service by a customer, the aircraft 1200 is scheduled forroutine maintenance and service 1114 (which may also includemodification, reconfiguration, refurbishment, and so on).

Each of the processes of the illustrative method 1100 may be performedor carried out by a system integrator, a third party, and/or an operator(e.g., a customer). For the purposes of this description, a systemintegrator may include, without limitation, any number of aircraftmanufacturers and major-system subcontractors; a third party mayinclude, without limitation, any number of vendors, subcontractors, andsuppliers; and an operator may be an airline, leasing company, militaryentity, service organization, and so on.

As shown in FIG. 13, the aircraft 1200 produced by the illustrativemethod 1100 may include an airframe 1202 with a plurality of high-levelsystems 1204 and an interior 1206. Examples of high-level systems 1204include one or more of a propulsion system 1208, an electrical system1210, a hydraulic system 1212, and an environmental system 1214. Anynumber of other systems may be included. Although an aerospace exampleis shown, the principles of the invention may be applied to otherindustries, such as the automotive industry. Accordingly, in addition toaircraft 1200, the principles disclosed herein may apply to othervehicles, e.g., land vehicles, marine vehicles, space vehicles, etc.

Apparatus and methods shown or described herein may be employed duringany one or more of the stages of the manufacturing and service method1100. For example, components or subassemblies corresponding tocomponent and subassembly manufacturing 1106 may be fabricated ormanufactured in a manner similar to components or subassemblies producedwhile the aircraft 1200 is in service. Also, one or more aspects of theapparatus, method, or combination thereof may be utilized during theproduction stages 1106 and 1108, for example, by substantiallyexpediting assembly of or reducing the cost of an aircraft 1200.Similarly, one or more aspects of the apparatus or method realizations,or a combination thereof, may be utilized, for example and withoutlimitation, while the aircraft 1200 is in service, e.g., maintenance andservice 1114.

As used herein, the term “control unit,” “central processing unit,”“unit,” “CPU,” “computer,” or the like may include any processor-basedor microprocessor-based system including systems using microcontrollers,reduced instruction set computers (RISC), application specificintegrated circuits (ASICs), logic circuits, and any other circuit orprocessor including hardware, software, or a combination thereof capableof executing the functions described herein. Such are exemplary only,and are thus not intended to limit in any way the definition and/ormeaning of such terms. For example, a processing unit may be or includeone or more processors that are configured to perform various tasks oroperations described herein.

It may be noted that the processing unit 630 may be configured toexecute a set of instructions that are stored in one or more datastorage units or elements (such as one or more memories such as memory632), in order to process data. The data storage units may also storedata or other information as desired or needed. The data storage unitsmay be in the form of an information source or a physical memory elementwithin a processing machine.

The set of instructions may include various commands that instruct theprocessing unit 630 as a processing machine to perform specificoperations such as the methods and processes of the various embodimentsof the subject matter described herein. The set of instructions may bein the form of a software program. The software may be in various formssuch as system software or application software. Further, the softwaremay be in the form of a collection of separate programs, a programsubset within a larger program or a portion of a program. The softwaremay also include modular programming in the form of object-orientedprogramming. The processing of input data by the processing machine maybe in response to user commands, or in response to results of previousprocessing, or in response to a request made by another processingmachine.

The diagrams of embodiments herein illustrate one or more control orprocessing units, such as the controller 170. It is to be understoodthat the processing or control units may represent circuits, circuitry,or portions thereof that may be implemented as hardware with associatedinstructions (e.g., software stored on a tangible and non-transitorycomputer readable storage medium, such as a computer hard drive, ROM,RAM, or the like) that perform the operations described herein. Thehardware may include state machine circuitry hardwired to perform thefunctions described herein. Optionally, the hardware may includeelectronic circuits that include and/or are connected to one or morelogic-based devices, such as microprocessors, processors, controllers,or the like. The circuits in various embodiments may be configured toexecute one or more algorithms to perform functions described herein.The one or more algorithms may include aspects of embodiments disclosedherein, whether or not expressly identified in a flowchart or a method.

As used herein, the terms “software” and “firmware” are interchangeable,and include any computer program stored in a data storage unit (forexample, one or more memories) for execution by a computer, includingRAM memory, ROM memory, EPROM memory, EEPROM memory, and non-volatileRAM (NVRAM) memory. The above data storage unit types are exemplaryonly, and are thus not limiting as to the types of memory usable forstorage of a computer program.

While various spatial and directional terms, such as top, bottom, lower,mid, lateral, horizontal, vertical, front and the like may be used todescribe embodiments of the present disclosure, it is understood thatsuch terms are merely used with respect to the orientations shown in thedrawings. The orientations may be inverted, rotated, or otherwisechanged, such that an upper portion is a lower portion, and vice versa,horizontal becomes vertical, and the like.

As used herein, a structure, limitation, or element that is “configuredto” perform a task or operation is particularly structurally formed,constructed, or adapted in a manner corresponding to the task oroperation. For purposes of clarity and the avoidance of doubt, an objectthat is merely capable of being modified to perform the task oroperation is not “configured to” perform the task or operation as usedherein.

It is to be understood that the above description is intended to beillustrative, and not restrictive. For example, the above-describedembodiments (and/or aspects thereof) may be used in combination witheach other. In addition, many modifications may be made to adapt aparticular situation or material to the teachings of the variousembodiments of the disclosure without departing from their scope. Whilethe dimensions and types of materials described herein are intended todefine the parameters of the various embodiments of the disclosure, theembodiments are by no means limiting and are exemplary embodiments. Manyother embodiments will be apparent to those of skill in the art uponreviewing the above description. The scope of the various embodiments ofthe disclosure should, therefore, be determined with reference to theappended claims, along with the full scope of equivalents to which suchclaims are entitled. In the appended claims, the terms “including” and“in which” are used as the plain-English equivalents of the respectiveterms “comprising” and “wherein.” Moreover, the terms “first,” “second,”and “third,” etc. are used merely as labels, and are not intended toimpose numerical requirements on their objects. Further, the limitationsof the following claims are not written in means-plus-function formatand are not intended to be interpreted based on 35 U.S.C. § 112(f),unless and until such claim limitations expressly use the phrase “meansfor” followed by a statement of function void of further structure.

This written description uses examples to disclose the variousembodiments of the disclosure, including the best mode, and also toenable any person skilled in the art to practice the various embodimentsof the disclosure, including making and using any devices or systems andperforming any incorporated methods. The patentable scope of the variousembodiments of the disclosure is defined by the claims, and may includeother examples that occur to those skilled in the art. Such otherexamples are intended to be within the scope of the claims if theexamples have structural elements that do not differ from the literallanguage of the claims, or if the examples include equivalent structuralelements with insubstantial differences from the literal language of theclaims.

What is claimed is:
 1. A mobile fixture controller configured to controloperation of a mobile fixture, the movable fixture comprising a movablebase configured to travel over a floor, a support platform coupled tothe movable base and articulable with respect to the base, an adaptorinterface coupled to and moving with the support platform, the adaptorinterface configured to mechanically interface with an attachmentmember, and at least one sensor coupled to the adaptor interface;wherein the mobile fixture controller is configured to be operablycoupled to the movable base, support platform, and at least one sensor,the mobile fixture controller configured to: receive an input from theat least one sensor corresponding to at least one of a force or movementresulting from an interaction between the adaptor interface and theattachment member; determine a planned movement of at least one of themovable base or the support platform to address the detected at leastone of the force or movement; and control movement of the at least oneof the movable base or support platform responsive to the at least oneof the force or movement detected by the at least one sensor pursuant tothe planned movement.
 2. The mobile fixture controller of claim 1,wherein the mobile fixture controller is configured to autonomouslycontrol movement of at least one of the movable base or support platformresponsive to the detected at least one force or movement that isassociated with movement of the attachment member, to thereby coordinatemovement of the attachment member along with at least one other mobilefixture supporting the attachment member, without the mobile fixturecommunicating movement commands to the at least one other mobilefixture.
 3. The mobile fixture controller of claim 1, wherein the mobilefixture controller is configured to provide command signals to an endeffector actuator interposed between the adaptor interface and themovable base to articulate the adaptor interface relative to the movablebase via the end effector actuator.
 4. The mobile fixture controller ofclaim 3, wherein the mobile fixture controller is configured to providefirst command signals to articulate the adaptor interface relative tothe movable base via the end effector actuator responsive to thedetected at least one force or movement, and to provide second commandsignals to move the base along the floor responsive to the articulationof the adaptor interface to urge the base into a centered position withrespect to the adaptor interface.
 5. The mobile fixture of claim 1,wherein the mobile fixture controller is configured to move the movablebase from a fixed to a movable configuration responsive to the detectedat least one force or movement.
 6. The mobile fixture controller ofclaim 1, wherein the controller is configured to selectively operate themobile fixture in one of at least three modes including a carry mode, astationary mode, and a compliance mode, wherein: in the carry mode, themobile fixture controller is configured to articulate the adaptorinterface relative to the movable base responsive to the detected atleast one force or movement, and to move the base along the floorresponsive to the articulation of the adaptor interface to urge the baseinto a centered position with respect to the adaptor interface; in thestationary mode, the mobile fixture controller is configured to maintainthe movable base in a fixed position relative to the floor; and in thecompliance mode, the mobile fixture controller is configured toarticulate the adaptor interface responsive to a manual input.
 7. Themobile fixture controller of claim 6, wherein, in the compliance mode,the mobile fixture controller is configured to articulate the adaptorinterface responsive to a detected force satisfying a threshold.
 8. Themobile fixture controller of claim 6, wherein the mobile fixturecontroller is configured to autonomously remove the mobile fixture fromthe stationary mode responsive to at least one of a detected force ormovement satisfying a threshold.
 9. A method comprising: articulating asupport platform of a mobile fixture with respect to a movable base ofthe mobile fixture; coupling an adaptor interface of the mobile fixtureto an attachment member, the adaptor interface coupled to and movingwith the support platform of the mobile fixture, the support platformcoupled to the movable base of the mobile fixture; sensing, with atleast one sensor coupled to the adaptor interface, at least one of aforce or movement resulting from an interaction between the adaptorinterface and the attachment member; and controlling, with a controller,movement of at least one of the movable base or support platformresponsive to the at least one of the force or movement detected by theat least one sensor.
 10. The method of claim 9, further comprising:coupling an adaptor interface of at least one additional mobile fixtureto the attachment member; and controlling movement of the supportplatform of the mobile platform responsive to the detected at least oneof the force or movement to coordinate movement of the mobile fixtureand the attachment member with the at least one additional mobilefixture without communicating commands to adjust the attachment memberto the at least one additional mobile fixture.
 11. The method of claim10, further comprising controlling an end effector actuator interposedbetween the adaptor interface and the movable base to articulate theadaptor interface relative to the movable base.
 12. The method of claim10, further comprising articulating the adaptor interface relative tothe movable base responsive to the detected at least one force ormovement, and moving the base along a floor responsive to thearticulation of the adaptor interface to urge the base toward a centeredposition with respect to the adaptor interface.
 13. The method of claim10, further comprising autonomously moving the movable base from a fixedto a movable configuration responsive to the detected at least one forceor movement.
 14. The method of claim 10, wherein the at least one of theforce or movement is detected using at least one of a force sensor,torque sensor, axis encoder, or tilt sensor.
 15. The method of claim 10,further comprising selectively operating the mobile fixture in one of atleast three modes including a carry mode, a stationary mode, and acompliance mode, wherein: in the carry mode, the adaptor interface isarticulated relative to the movable base responsive to the detected atleast one force or movement, and the base is moved along a floorresponsive to the articulation of the adaptor interface to urge the baseinto a centered position with respect to the adaptor interface; in thestationary mode, the movable base is maintained in a fixed positionrelative to the floor; and in the compliance mode, the adaptor interfaceis articulated responsive to a manual input.
 16. The method of claim 15,wherein, in the compliance mode, the adaptor interface is articulatedresponsive to a detected force satisfying a threshold.
 17. The method ofclaim 15, further comprising autonomously removing the mobile fixturefrom the stationary mode responsive to at least one of a detected forceor movement satisfying a threshold.